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Implementation Of Multi-platform Robots Remote Control Based On Mobile-C Mobile Agent

Posted on:2013-02-19Degree:MasterType:Thesis
Country:ChinaCandidate:N ZhangFull Text:PDF
GTID:2248330371973873Subject:Mechanical and electrical engineering
Abstract/Summary:PDF Full Text Request
With the development of the computer technology and network technology, the mobileagent technology is emerging. In this thesis, a mobile agent is a program that can performsome tasks instead of people or other programs and migrate among different hostsautonomously. Mobile agents can be created dynamically during runtime and dispatched todestination systems to perform tasks.Combining with the mobile agent technology and mobile robot control technology, thisthesis achieves the control of mobile robots by using the Mobile-C mobile agent platform.The control host can concurrently send agents to multiple robots. After the mobile agent isreceived, the robot will run it in each robot offline without the real-time connection with thehost. When an agent runs over, a new one can be dispatched to the robot to update its controlalgorithm. This method not only improves the flexibility of the robot control, but also savesthe network bandwidth to reduce the impact of the network latency. The main contents are asfollows.Firstly, after analyzing the architecture, the working mechanism and the migrationmechanism of the Mobile-C mobile agent platform, this thesis builds the Mobile-C runningenvironment respectively in the Windows system platform of the Leobot and the embeddedLinux system platform of the BCRobot, including transplanting the high version of theembedded Linux kernel and file system in the BCRobot’s ARM board to enable Ch, Mobile-CAgent Execution Engine, to run properly.Secondly, mobile agents with control programs are written according to two kinds ofrobot’s control structure, and then sent to robot to achieve the remote control. In addition, thecontrol system is tested by using PID control algorithm.Finally, an experiment is designed, using mobile agents to simultaneously controlmultiple robots to complete a task, and proof the feasibility and correctness of themulti-platform robots control system based on the mobile agent.
Keywords/Search Tags:Mobile Agent, Mobile Robot, Mobile-C, Embedded System
PDF Full Text Request
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